0.1.1

This release includes bug fixes to the EMD Grasp Planner and Grasp Executor, as well as supporting the latest EPD Object Tracking functionalities.

• Fixed bug that triggers Grasp Execution when no grasp plans found.
• Added a clearing and repopulating method in Grasp Planner for end effector to prevent retaining of past information
• Fixed inconsistencies in Grasp Planner Rotation by adding additional configuration parameters to file to specify end effector tf alignments
• Fixed initial point generation for finger grasp samples in Grasp Planner to account for object axis vector
• Added quick dimension and pose fix to ensure grasp object collision shape is properly formed for grasp execution.
• Added EPD Tracking output support to Grasp Planner
• Added Service based communication between EPD and EMD Grasp Planner
• Removed epd_msgs as a required dependency for EMD, and removed epd_msgs from main repository.
• Updated MoveItCppPtr namespace from moveit::planning_interface to moveit_cpp for Moveit 2.2.0 due to deprecation notice
• Fix for ignoring links
• Separate configure() from execution in ds_async_executor
• Overhaul several scheduler bugs
• Use chrono instead of rclcpp::time

Contributors

Glenn Tan, Chen Bainian, Wong Wen Kang, Khairul Amin